cp_waypoints_navigator.hpp

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// Copyright 2021 RobosoftAI Inc.
//
// Licensed under the Apache License, Version 2.0 (the "License");
// you may not use this file except in compliance with the License.
// You may obtain a copy of the License at
//
//     http://www.apache.org/licenses/LICENSE-2.0
//
// Unless required by applicable law or agreed to in writing, software
// distributed under the License is distributed on an "AS IS" BASIS,
// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
// See the License for the specific language governing permissions and
// limitations under the License.
 
/*****************************************************************************************************************
 *
 *   Authors: Pablo Inigo Blasco, Brett Aldrich
 *
 ******************************************************************************************************************/
#pragma once
 
#include <cl_nav2z/cl_nav2z.hpp>
#include <cl_nav2z/components/nav2_action_interface/cp_nav2_action_interface.hpp>
#include <cl_nav2z/components/waypoints_navigator/cp_waypoints_event_dispatcher.hpp>
#include <smacc2/smacc.hpp>
 
#include <cl_nav2z/components/waypoints_navigator/cp_waypoints_navigator_base.hpp>
#include <geometry_msgs/msg/pose.hpp>
 
namespace cl_nav2z
{
class ClNav2Z;
using namespace smacc2;
 
struct EvWaypointFinal : sc::event<EvWaypointFinal>
{
};
 
struct NavigateNextWaypointOptions
{
  std::optional<std::string> controllerName_;
  std::optional<std::string> goalCheckerName_;
};
 
// This component contains a list of waypoints. These waypoints can
// be iterated in the different states using CbNextWaiPoint
// waypoint index is only incremented if the current waypoint is successfully reached
class CpWaypointNavigator : public CpWaypointNavigatorBase
{
public:
  ClNav2Z * client_;
  components::CpNav2ActionInterface * nav2ActionInterface_ = nullptr;
 
  CpWaypointNavigator();
 
  void onInitialize() override;
 
  template <typename TOrthogonal, typename TSourceObject>
  void onStateOrthogonalAllocation()
  {
    client_ = dynamic_cast<ClNav2Z *>(owner_);
    waypointsEventDispatcher.initialize<TSourceObject, TOrthogonal>(client_);
    this->requiresComponent(nav2ActionInterface_, ComponentRequirement::HARD);
  }
 
  std::optional<std::shared_future<
    std::shared_ptr<rclcpp_action::ClientGoalHandle<nav2_msgs::action::NavigateToPose> > > >
  sendNextGoal(std::optional<NavigateNextWaypointOptions> options = std::nullopt);
 
  void stopWaitingResult();
 
  smacc2::SmaccSignal<void()> onNavigationRequestSucceded;
  smacc2::SmaccSignal<void()> onNavigationRequestAborted;
  smacc2::SmaccSignal<void()> onNavigationRequestCancelled;
 
private:
  void onNavigationResult(const components::CpNav2ActionInterface::WrappedResult & r);
 
  void onGoalReached(const components::CpNav2ActionInterface::WrappedResult & res);
  void onGoalCancelled(const components::CpNav2ActionInterface::WrappedResult & /*res*/);
  void onGoalAborted(const components::CpNav2ActionInterface::WrappedResult & /*res*/);
 
  boost::signals2::connection succeddedNav2ZClientConnection_;
  boost::signals2::connection abortedNav2ZClientConnection_;
  boost::signals2::connection cancelledNav2ZClientConnection_;
};
}  // namespace cl_nav2z